text: /*
   * ur_realtime_communication.h
   *
   * Copyright 2015 Thomas Timm Andersen
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  
  #ifndef UR_REALTIME_COMMUNICATION_H_
  #define UR_REALTIME_COMMUNICATION_H_
  
  #include "robot_state_RT.h"
  #include "do_output.h"
  #include <vector>
  #include <stdlib.h>
  #include <stdio.h>
  #include <string.h>
  #include <sys/time.h>
  #include <thread>
  #include <mutex>
  #include <condition_variable>
  #include <sys/types.h>
  #include <sys/socket.h>
  #include <netinet/in.h>
  #include <netinet/tcp.h>
  #include <netdb.h>
  #include <iostream>
  #include <unistd.h>
  #include <arpa/inet.h>
  #include <errno.h>
  #include <fcntl.h>
  #include <sys/types.h>
  
  class UrRealtimeCommunication {
  private:
  	unsigned int safety_count_max_;
  	int sockfd_;
  	struct sockaddr_in serv_addr_;
  	struct hostent *server_;
  	std::string local_ip_;
  	bool keepalive_;
  	std::thread comThread_;
  	int flag_;
  	std::recursive_mutex command_string_lock_;
  	std::string command_;
  	unsigned int safety_count_;
  	void run();
  
  
  public:
  	bool connected_;
  	RobotStateRT* robot_state_;
  	std::mutex mutex_;
  
  	UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host,
  			unsigned int safety_count_max = 12);
  	bool start();
  	void halt();
  	void setSpeed(double q0, double q1, double q2, double q3, double q4,
  			double q5, double acc = 100.);
  	void addCommandToQueue(std::string inp);
  	void setSafetyCountMax(uint inp);
  	std::string getLocalIp();
  
  };
  
  #endif /* UR_REALTIME_COMMUNICATION_H_ */
  